A patient positioning system for use with a radiation therapy system that monitors the location of fixed and movable components and pre-plans movement of the movable components so as to inhibit movement if a collision would be indicated. The positioning system can also coordinate movement of multiple...http://www.google.com/patents/US7949096?utm_source=gb-gplus-sharePatent US7949096 - Path planning and collision avoidance for movement of instruments in a radiation therapy environment
Path planning and collision avoidance for movement of instruments in a ...
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